增加wx和deepc test code

deepc_test.py

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+import numpy as np
+from scipy.optimize import minimize
+
+# 系统参数
+A = 0.8
+B = 0.5
+C = 1
+D = 0.2
+
+# 参考轨迹函数
+def reference_trajectory(t):
+    return np.sin(0.1 * t)
+
+# 生成输入数据
+def generate_input_data(T):
+    return np.random.uniform(-1, 1, T)
+
+# 系统模拟
+def simulate_system(u):
+    x = 0  # 初始状态
+    y = []
+    for i in range(len(u)):
+        x = A * x + B * u[i]
+        y.append(C * x + D * u[i])
+    return np.array(y)
+
+# DeePC算法实现
+def deepc_algorithm(T, Tini, N):
+    # 生成输入数据
+    ud = generate_input_data(T)
+
+    # 模拟系统得到输出数据
+    yd = simulate_system(ud)
+
+    # 划分数据
+    Up, Yp, Uf, Yf = partition_data(ud, yd, Tini, N)
+
+    # 构建优化问题
+    def objective_function(g):
+        u = Uf @ g
+        y = Yf @ g
+        cost = np.sum((y - reference_trajectory(np.arange(Tini, Tini + N))) ** 2) + 0.1 * np.sum(u ** 2)
+        return cost
+
+    # 等式约束
+    def equality_constraint(g):
+        return np.concatenate((Up @ g - ud[:Tini], Yp @ g - yd[:Tini], Uf @ g, Yf @ g))
+
+    # 初始猜测
+    g0 = np.zeros((T - Tini - N + 1, 1))
+
+    # 约束条件
+    constraints = {'type': 'eq', 'fun': equality_constraint}
+
+    # 求解优化问题
+    result = minimize(objective_function, g0, constraints=constraints)
+
+    # 最优输入序列
+    u_opt = Uf @ result.x
+
+    return u_opt
+
+# 划分数据函数
+def partition_data(ud, yd, Tini, N):
+    Up = np.zeros((Tini, T - Tini - N + 1))
+    Yp = np.zeros((Tini, T - Tini - N + 1))
+    Uf = np.zeros((N, T - Tini - N + 1))
+    Yf = np.zeros((N, T - Tini - N + 1))
+
+    for i in range(T - Tini - N + 1):
+        Up[:, i] = ud[i:i + Tini]
+        Yp[:, i] = yd[i:i + Tini]
+        Uf[:, i] = ud[i + Tini:i + Tini + N]
+        Yf[:, i] = yd[i + Tini:i + Tini + N]
+
+    return Up, Yp, Uf, Yf
+
+# 测试
+T = 100
+Tini = 10
+N = 5
+u_opt = deepc_algorithm(T, Tini, N)
+print(u_opt)

wx_test.py

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+# -*- coding: utf-8 -*-
+
+import wx
+import win32api
+import sys, os
+
+APP_TITLE = u'控件事件、鼠标事件、键盘事件、系统事件'
+APP_ICON = 'res/python.ico'
+
+
+class mainFrame(wx.Frame):
+    '''程序主窗口类，继承自wx.Frame'''
+
+    def __init__(self, parent):
+        '''构造函数'''
+
+        wx.Frame.__init__(self, parent, -1, APP_TITLE)
+        self.SetBackgroundColour(wx.Colour(224, 224, 224))
+        self.SetSize((520, 220))
+        self.Center()
+
+        if hasattr(sys, "frozen") and getattr(sys, "frozen") == "windows_exe":
+            exeName = win32api.GetModuleFileName(win32api.GetModuleHandle(None))
+            icon = wx.Icon(exeName, wx.BITMAP_TYPE_ICO)
+        else:
+            icon = wx.Icon(APP_ICON, wx.BITMAP_TYPE_ICO)
+        self.SetIcon(icon)
+
+        wx.StaticText(self, -1, u'第一行输入框：', pos=(40, 50), size=(100, -1), style=wx.ALIGN_RIGHT)
+        wx.StaticText(self, -1, u'第二行输入框：', pos=(40, 80), size=(100, -1), style=wx.ALIGN_RIGHT)
+        self.tip = wx.StaticText(self, -1, u'', pos=(145, 110), size=(150, -1), style=wx.ST_NO_AUTORESIZE)
+
+        self.tc1 = wx.TextCtrl(self, -1, '', pos=(145, 50), size=(150, -1), name='TC01', style=wx.TE_CENTER)
+        self.tc2 = wx.TextCtrl(self, -1, '', pos=(145, 80), size=(150, -1), name='TC02',
+                               style=wx.TE_PASSWORD | wx.ALIGN_RIGHT)
+
+        btn_mea = wx.Button(self, -1, u'鼠标左键事件', pos=(350, 50), size=(100, 25))
+        btn_meb = wx.Button(self, -1, u'鼠标所有事件', pos=(350, 80), size=(100, 25))
+        btn_close = wx.Button(self, -1, u'关闭窗口', pos=(350, 110), size=(100, 25))
+
+        # 控件事件
+        self.tc1.Bind(wx.EVT_TEXT, self.EvtText)
+        self.tc2.Bind(wx.EVT_TEXT, self.EvtText)
+        self.Bind(wx.EVT_BUTTON, self.OnClose, btn_close)
+
+        # 鼠标事件 
+        btn_mea.Bind(wx.EVT_LEFT_DOWN, self.OnLeftDown)
+        btn_mea.Bind(wx.EVT_LEFT_UP, self.OnLeftUp)
+        btn_mea.Bind(wx.EVT_MOUSEWHEEL, self.OnMouseWheel)
+        btn_meb.Bind(wx.EVT_MOUSE_EVENTS, self.OnMouse)
+
+        # 键盘事件
+        self.Bind(wx.EVT_KEY_DOWN, self.OnKeyDown)
+
+        # 系统事件
+        self.Bind(wx.EVT_CLOSE, self.OnClose)
+        self.Bind(wx.EVT_SIZE, self.On_size)
+        # self.Bind(wx.EVT_PAINT, self.On_paint)
+        # self.Bind(wx.EVT_ERASE_BACKGROUND, lambda event: None)
+
+    def EvtText(self, evt):
+        '''输入框事件函数'''
+
+        obj = evt.GetEventObject()
+        objName = obj.GetName()
+        text = evt.GetString()
+
+        if objName == 'TC01':
+            self.tc2.SetValue(text)
+        elif objName == 'TC02':
+            self.tc1.SetValue(text)
+
+    def On_size(self, evt):
+        '''改变窗口大小事件函数'''
+
+        self.Refresh()
+        evt.Skip()  # 体会作用
+
+    def OnClose(self, evt):
+        '''关闭窗口事件函数'''
+
+        dlg = wx.MessageDialog(None, u'确定要关闭本窗口？', u'操作提示', wx.YES_NO | wx.ICON_QUESTION)
+        if (dlg.ShowModal() == wx.ID_YES):
+            self.Destroy()
+
+    def OnLeftDown(self, evt):
+        '''左键按下事件函数'''
+
+        self.tip.SetLabel(u'左键按下')
+
+    def OnLeftUp(self, evt):
+        '''左键弹起事件函数'''
+
+        self.tip.SetLabel(u'左键弹起')
+
+    def OnMouseWheel(self, evt):
+        '''鼠标滚轮事件函数'''
+
+        vector = evt.GetWheelRotation()
+        self.tip.SetLabel(str(vector))
+
+    def OnMouse(self, evt):
+        '''鼠标事件函数'''
+
+        self.tip.SetLabel(str(evt.EventType))
+
+    def OnKeyDown(self, evt):
+        '''键盘事件函数'''
+
+        key = evt.GetKeyCode()
+        self.tip.SetLabel(str(key))
+
+
+class mainApp(wx.App):
+    def OnInit(self):
+        self.SetAppName(APP_TITLE)
+        self.Frame = mainFrame(None)
+        self.Frame.Show()
+        return True
+
+
+if __name__ == "__main__":
+    app = mainApp()
+    app.MainLoop()